// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include "types_six_dof_expmap.h"

#include "../core/factory.h"
#include "../stuff/macros.h"

namespace g2o {

using namespace std;


Vector2d project2d(const Vector3d& v)  {
  Vector2d res;
  res(0) = v(0) / v(2);
  res(1) = v(1) / v(2);
  return res;
}

Vector3d unproject2d(const Vector2d& v)  {
  Vector3d res;
  res(0) = v(0);
  res(1) = v(1);
  res(2) = 1;
  return res;
}

VertexSE3Expmap::VertexSE3Expmap() : BaseVertex<6, SE3Quat>() {
}

bool VertexSE3Expmap::read(std::istream& is) {
  Vector7d est;
  for (int i = 0; i < 7; i++)
    is  >> est[i];
  SE3Quat cam2world;
  cam2world.fromVector(est);
  setEstimate(cam2world.inverse());
  return true;
}

bool VertexSE3Expmap::write(std::ostream& os) const {
  SE3Quat cam2world(estimate().inverse());
  for (int i = 0; i < 7; i++)
    os << cam2world[i] << " ";
  return os.good();
}

EdgeSE3ProjectMarker::EdgeSE3ProjectMarker() : BaseBinaryEdge<2, Vector2d, VertexSE3Expmap, VertexSE3Expmap>() {
}
bool EdgeSE3ProjectMarker::read(std::istream& is) {
  for (int i = 0; i <= 3; i++) {
    is >> _measurement[i];
  }
  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      is >> information()(i, j);
      if (i != j)
        information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgeSE3ProjectMarker::write(std::ostream& os) const {

  for (int i = 0; i <= 3; i++) {
    os << measurement()[i] << " ";
  }

  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      os << " " <<  information()(i, j);
    }
  return os.good();
}

void EdgeSE3ProjectMarker::linearizeOplus()
{
  VertexSE3Expmap * vj = static_cast<VertexSE3Expmap *>(_vertices[1]);
  SE3Quat Tmw(vj->estimate());
  VertexSE3Expmap* vi = static_cast<VertexSE3Expmap*>(_vertices[0]);
  SE3Quat Tcw(vi->estimate());

  SE3Quat Tcm(Tcw * Tmw.inverse());
  //Vector3d xyz = point3d_marker;
  Vector3d point3d_camera = Tcm.map(point3d_marker);    //  transfrom 3d point from marker frame to camera frame

  double x = point3d_camera[0];
  double y = point3d_camera[1];
  double z = point3d_camera[2];
  double z_2 = z * z;
  // jacobian used to update marker pose
  Matrix<double, 2, 3> tmp;
  tmp(0, 0) = fx;
  tmp(0, 1) = 0;
  tmp(0, 2) = -x / z * fx;

  tmp(1, 0) = 0;
  tmp(1, 1) = fy;
  tmp(1, 2) = -y / z * fy;

  Matrix<double, 3, 6> partital_PctoLie;
  double xm = point3d_marker[0];
  double ym = point3d_marker[1];
  double zm = point3d_marker[2];
  partital_PctoLie(0, 0) = 0;
  partital_PctoLie(0, 1) = -zm;
  partital_PctoLie(0, 2) = ym;
  partital_PctoLie(0, 3) = -1;
  partital_PctoLie(0, 4) = 0;
  partital_PctoLie(0, 5) = 0;
  partital_PctoLie(1, 0) = zm;
  partital_PctoLie(1, 1) = 0;
  partital_PctoLie(1, 2) = -xm;
  partital_PctoLie(1, 3) = 0;
  partital_PctoLie(1, 4) = -1;
  partital_PctoLie(1, 5) = 0;
  partital_PctoLie(2, 0) = -ym;
  partital_PctoLie(2, 1) = xm;
  partital_PctoLie(2, 2) = 0;
  partital_PctoLie(2, 3) = 0;
  partital_PctoLie(2, 4) = 0;
  partital_PctoLie(2, 5) = -1;

  _jacobianOplusXj =  -1. / z * tmp * Tcm.rotation().toRotationMatrix() * partital_PctoLie;

  // jacobian used to update  camera pose
  _jacobianOplusXi(0, 0) =  x * y / z_2 * fx;
  _jacobianOplusXi(0, 1) = -(1 + (x * x / z_2)) * fx;
  _jacobianOplusXi(0, 2) = y / z * fx;
  _jacobianOplusXi(0, 3) = -1. / z * fx;
  _jacobianOplusXi(0, 4) = 0;
  _jacobianOplusXi(0, 5) = x / z_2 * fx;

  _jacobianOplusXi(1, 0) = (1 + y * y / z_2) * fy;
  _jacobianOplusXi(1, 1) = -x * y / z_2 * fy;
  _jacobianOplusXi(1, 2) = -x / z * fy;
  _jacobianOplusXi(1, 3) = 0;
  _jacobianOplusXi(1, 4) = -1. / z * fy;
  _jacobianOplusXi(1, 5) = y / z_2 * fy;

  //std::cout<<"_jacobianOplusXi: "<<_jacobianOplusXi;
}

Vector2d EdgeSE3ProjectMarker::cam_project(const Vector3d & trans_xyz) const
{
  Vector2d proj = project2d(trans_xyz);
  Vector2d res;
  res[0] = proj[0] * fx + cx;
  res[1] = proj[1] * fy + cy;
  return res;
}
void EdgeSE3Marker::linearizeOplus()
{
  VertexSE3Expmap * vj = static_cast<VertexSE3Expmap *>(_vertices[1]);
  SE3Quat Tmw(vj->estimate());
  VertexSE3Expmap* vi = static_cast<VertexSE3Expmap*>(_vertices[0]);
  SE3Quat Tcw(vi->estimate());

  SE3Quat Tcm(Tcw * Tmw.inverse());
  //Vector3d xyz = point3d_marker;
  Vector3d point3d_camera = Tcm.map(point3d_marker);    //  transfrom 3d point from marker frame to camera frame

  double x = point3d_camera[0];
  double y = point3d_camera[1];
  double z = point3d_camera[2];
  double z_2 = z * z;
  // jacobian used to update marker pose
  Matrix<double, 2, 3> tmp;
  tmp(0, 0) = fx;
  tmp(0, 1) = 0;
  tmp(0, 2) = -x / z * fx;

  tmp(1, 0) = 0;
  tmp(1, 1) = fy;
  tmp(1, 2) = -y / z * fy;

  Matrix<double, 3, 6> partital_PctoLie;
  double xm = point3d_marker[0];
  double ym = point3d_marker[1];
  double zm = point3d_marker[2];
  partital_PctoLie(0, 0) = 0;
  partital_PctoLie(0, 1) = -zm;
  partital_PctoLie(0, 2) = ym;
  partital_PctoLie(0, 3) = -1;
  partital_PctoLie(0, 4) = 0;
  partital_PctoLie(0, 5) = 0;
  partital_PctoLie(1, 0) = zm;
  partital_PctoLie(1, 1) = 0;
  partital_PctoLie(1, 2) = -xm;
  partital_PctoLie(1, 3) = 0;
  partital_PctoLie(1, 4) = -1;
  partital_PctoLie(1, 5) = 0;
  partital_PctoLie(2, 0) = -ym;
  partital_PctoLie(2, 1) = xm;
  partital_PctoLie(2, 2) = 0;
  partital_PctoLie(2, 3) = 0;
  partital_PctoLie(2, 4) = 0;
  partital_PctoLie(2, 5) = -1;

  _jacobianOplusXj =  -1. / z * tmp * Tcm.rotation().toRotationMatrix() * partital_PctoLie;

  // jacobian used to update  camera pose
  _jacobianOplusXi(0, 0) =  x * y / z_2 * fx;
  _jacobianOplusXi(0, 1) = -(1 + (x * x / z_2)) * fx;
  _jacobianOplusXi(0, 2) = y / z * fx;
  _jacobianOplusXi(0, 3) = -1. / z * fx;
  _jacobianOplusXi(0, 4) = 0;
  _jacobianOplusXi(0, 5) = x / z_2 * fx;

  _jacobianOplusXi(1, 0) = (1 + y * y / z_2) * fy;
  _jacobianOplusXi(1, 1) = -x * y / z_2 * fy;
  _jacobianOplusXi(1, 2) = -x / z * fy;
  _jacobianOplusXi(1, 3) = 0;
  _jacobianOplusXi(1, 4) = -1. / z * fy;
  _jacobianOplusXi(1, 5) = y / z_2 * fy;

  //std::cout<<"_jacobianOplusXi: "<<_jacobianOplusXi;
}
Vector2d EdgeSE3Marker::cam_project(const Vector3d & trans_xyz) const
{
  Vector2d proj = project2d(trans_xyz);
  Vector2d res;
  res[0] = proj[0] * fx + cx;
  res[1] = proj[1] * fy + cy;
  return res;
}
bool EdgeSE3Marker::read(std::istream& is) {
  for (int i = 0; i <= 3; i++) {
    is >> _measurement[i];
  }
  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      is >> information()(i, j);
      if (i != j)
        information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgeSE3Marker::write(std::ostream& os) const {

  for (int i = 0; i <= 3; i++) {
    os << measurement()[i] << " ";
  }

  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      os << " " <<  information()(i, j);
    }
  return os.good();
}
EdgeSE3MarkerOnlyPose::EdgeSE3MarkerOnlyPose() : BaseUnaryEdge<2, Vector2d, VertexSE3Expmap>() {
}

void EdgeSE3MarkerOnlyPose::linearizeOplus()
{
  VertexSE3Expmap* vi = static_cast<VertexSE3Expmap*>(_vertices[0]);
  SE3Quat Tcw(vi->estimate());

  SE3Quat Tcm(Tcw * Twm);
  //Vector3d xyz = point3d_marker;
  Vector3d point3d_camera = Tcm.map(point3d_marker);    //  transfrom 3d point from marker frame to camera frame

  double x = point3d_camera[0];
  double y = point3d_camera[1];
  double z = point3d_camera[2];
  double z_2 = z * z;
  // jacobian used to update marker pose

  // jacobian used to update  camera pose
  _jacobianOplusXi(0, 0) =  x * y / z_2 * fx;
  _jacobianOplusXi(0, 1) = -(1 + (x * x / z_2)) * fx;
  _jacobianOplusXi(0, 2) = y / z * fx;
  _jacobianOplusXi(0, 3) = -1. / z * fx;
  _jacobianOplusXi(0, 4) = 0;
  _jacobianOplusXi(0, 5) = x / z_2 * fx;

  _jacobianOplusXi(1, 0) = (1 + y * y / z_2) * fy;
  _jacobianOplusXi(1, 1) = -x * y / z_2 * fy;
  _jacobianOplusXi(1, 2) = -x / z * fy;
  _jacobianOplusXi(1, 3) = 0;
  _jacobianOplusXi(1, 4) = -1. / z * fy;
  _jacobianOplusXi(1, 5) = y / z_2 * fy;


}
Vector2d EdgeSE3MarkerOnlyPose::cam_project(const Vector3d & trans_xyz) const
{
  Vector2d proj = project2d(trans_xyz);
  Vector2d res;
  res[0] = proj[0] * fx + cx;
  res[1] = proj[1] * fy + cy;
  return res;
}
// Matrix<double, 8, 1> EdgeSE3MarkerOnlyPose::cam_project(const std::vector<Vector3d> & trans_xyz) const
// {
//   Matrix<double, 8, 1> res;
//   int i = 0;
//   for (auto xyz : trans_xyz)
//   {
//     Vector2d proj = project2d(xyz);
//     // Vector2d temp;
//     res(i, 0) = proj[0] * fx + cx;
//     res(i + 1, 0) = proj[1] * fy + cy;
//     i = i + 2;
//     std::cerr << "sdddfff--" << i << std::endl;
//     // i++;
//   }
//   return res;
// }
// EdgeSE3ProjectXYZOnlyPoints::EdgeSE3ProjectXYZOnlyPoints() : BaseBinaryEdge<3, Vector3d, VertexSBAPointXYZ>(){
// }
bool EdgeSE3ProjectXYZOnlyPoints::read(std::istream& is) {
  for (int i = 0; i <= 3; i++) {
    is >> _measurement[i];
  }
  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      is >> information()(i, j);
      if (i != j)
        information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgeSE3ProjectXYZOnlyPoints::write(std::ostream& os) const {

  for (int i = 0; i <= 3; i++) {
    os << measurement()[i] << " ";
  }

  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      os << " " <<  information()(i, j);
    }
  return os.good();
}
// void EdgeSE3ProjectXYZOnlyPoints::linearizeOplus() {
//   // SE3Quat T(rcw, tcw);
//   VertexSBAPointXYZ* vi = static_cast<VertexSBAPointXYZ*>(_vertices[0]);
//   Vector3d xyz = vi->estimate();
//   // Vector3d xyz_trans = T.map(xyz);
//   Vector3d xyz_trans = rcw * xyz + tcw;

//   double x = xyz_trans[0];
//   double y = xyz_trans[1];
//   double z = xyz_trans[2];
//   double z_2 = z * z;

//   Matrix<double, 2, 3> tmp;
//   tmp(0, 0) = fx;
//   tmp(0, 1) = 0;
//   tmp(0, 2) = -x / z * fx;

//   tmp(1, 0) = 0;
//   tmp(1, 1) = fy;
//   tmp(1, 2) = -y / z * fy;

//   // _jacobianOplusXi =  -1. / z * tmp * rcw;
//   _jacobianOplusXi(0, 0) = 2*xyz[0];
//   _jacobianOplusXi(0, 1) = 2*xyz[1];

//   _jacobianOplusXi(0, 2) = 2*xyz[2];

// }

Vector2d EdgeSE3ProjectXYZOnlyPoints::cam_project(const Vector3d & trans_xyz) const {
  Vector2d proj = project2d(trans_xyz);
  Vector2d res;
  res[0] = proj[0] * fx + cx;
  res[1] = proj[1] * fy + cy;
  return res;
}

EdgeSE3ProjectXYZ::EdgeSE3ProjectXYZ() : BaseBinaryEdge<2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap>() {
}

bool EdgeSE3ProjectXYZ::read(std::istream& is) {
  for (int i = 0; i < 2; i++) {
    is >> _measurement[i];
  }
  for (int i = 0; i < 2; i++)
    for (int j = i; j < 2; j++) {
      is >> information()(i, j);
      if (i != j)
        information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgeSE3ProjectXYZ::write(std::ostream& os) const {

  for (int i = 0; i < 2; i++) {
    os << measurement()[i] << " ";
  }

  for (int i = 0; i < 2; i++)
    for (int j = i; j < 2; j++) {
      os << " " <<  information()(i, j);
    }
  return os.good();
}


void EdgeSE3ProjectXYZ::linearizeOplus() {
  VertexSE3Expmap * vj = static_cast<VertexSE3Expmap *>(_vertices[1]);
  SE3Quat T(vj->estimate());
  VertexSBAPointXYZ* vi = static_cast<VertexSBAPointXYZ*>(_vertices[0]);
  Vector3d xyz = vi->estimate();
  Vector3d xyz_trans = T.map(xyz);

  double x = xyz_trans[0];
  double y = xyz_trans[1];
  double z = xyz_trans[2];
  double z_2 = z * z;

  Matrix<double, 2, 3> tmp;
  tmp(0, 0) = fx;
  tmp(0, 1) = 0;
  tmp(0, 2) = -x / z * fx;

  tmp(1, 0) = 0;
  tmp(1, 1) = fy;
  tmp(1, 2) = -y / z * fy;

  _jacobianOplusXi =  -1. / z * tmp * T.rotation().toRotationMatrix();

  _jacobianOplusXj(0, 0) =  x * y / z_2 * fx;
  _jacobianOplusXj(0, 1) = -(1 + (x * x / z_2)) * fx;
  _jacobianOplusXj(0, 2) = y / z * fx;
  _jacobianOplusXj(0, 3) = -1. / z * fx;
  _jacobianOplusXj(0, 4) = 0;
  _jacobianOplusXj(0, 5) = x / z_2 * fx;

  _jacobianOplusXj(1, 0) = (1 + y * y / z_2) * fy;
  _jacobianOplusXj(1, 1) = -x * y / z_2 * fy;
  _jacobianOplusXj(1, 2) = -x / z * fy;
  _jacobianOplusXj(1, 3) = 0;
  _jacobianOplusXj(1, 4) = -1. / z * fy;
  _jacobianOplusXj(1, 5) = y / z_2 * fy;
}

Vector2d EdgeSE3ProjectXYZ::cam_project(const Vector3d & trans_xyz) const {
  Vector2d proj = project2d(trans_xyz);
  Vector2d res;
  res[0] = proj[0] * fx + cx;
  res[1] = proj[1] * fy + cy;
  return res;
}


Vector3d EdgeStereoSE3ProjectXYZ::cam_project(const Vector3d & trans_xyz, const float &bf) const {
  const float invz = 1.0f / trans_xyz[2];
  Vector3d res;
  res[0] = trans_xyz[0] * invz * fx + cx;
  res[1] = trans_xyz[1] * invz * fy + cy;
  res[2] = res[0] - bf * invz;
  return res;
}





EdgeStereoSE3ProjectXYZ::EdgeStereoSE3ProjectXYZ() : BaseBinaryEdge<3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap>() {
}

bool EdgeStereoSE3ProjectXYZ::read(std::istream& is) {
  for (int i = 0; i <= 3; i++) {
    is >> _measurement[i];
  }
  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      is >> information()(i, j);
      if (i != j)
        information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgeStereoSE3ProjectXYZ::write(std::ostream& os) const {

  for (int i = 0; i <= 3; i++) {
    os << measurement()[i] << " ";
  }

  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      os << " " <<  information()(i, j);
    }
  return os.good();
}

void EdgeStereoSE3ProjectXYZ::linearizeOplus() {
  VertexSE3Expmap * vj = static_cast<VertexSE3Expmap *>(_vertices[1]);
  SE3Quat T(vj->estimate());
  VertexSBAPointXYZ* vi = static_cast<VertexSBAPointXYZ*>(_vertices[0]);
  Vector3d xyz = vi->estimate();
  Vector3d xyz_trans = T.map(xyz);

  const Matrix3d R =  T.rotation().toRotationMatrix();

  double x = xyz_trans[0];
  double y = xyz_trans[1];
  double z = xyz_trans[2];
  double z_2 = z * z;

  _jacobianOplusXi(0, 0) = -fx * R(0, 0) / z + fx * x * R(2, 0) / z_2;
  _jacobianOplusXi(0, 1) = -fx * R(0, 1) / z + fx * x * R(2, 1) / z_2;
  _jacobianOplusXi(0, 2) = -fx * R(0, 2) / z + fx * x * R(2, 2) / z_2;

  _jacobianOplusXi(1, 0) = -fy * R(1, 0) / z + fy * y * R(2, 0) / z_2;
  _jacobianOplusXi(1, 1) = -fy * R(1, 1) / z + fy * y * R(2, 1) / z_2;
  _jacobianOplusXi(1, 2) = -fy * R(1, 2) / z + fy * y * R(2, 2) / z_2;

  _jacobianOplusXi(2, 0) = _jacobianOplusXi(0, 0) - bf * R(2, 0) / z_2;
  _jacobianOplusXi(2, 1) = _jacobianOplusXi(0, 1) - bf * R(2, 1) / z_2;
  _jacobianOplusXi(2, 2) = _jacobianOplusXi(0, 2) - bf * R(2, 2) / z_2;

  _jacobianOplusXj(0, 0) =  x * y / z_2 * fx;
  _jacobianOplusXj(0, 1) = -(1 + (x * x / z_2)) * fx;
  _jacobianOplusXj(0, 2) = y / z * fx;
  _jacobianOplusXj(0, 3) = -1. / z * fx;
  _jacobianOplusXj(0, 4) = 0;
  _jacobianOplusXj(0, 5) = x / z_2 * fx;

  _jacobianOplusXj(1, 0) = (1 + y * y / z_2) * fy;
  _jacobianOplusXj(1, 1) = -x * y / z_2 * fy;
  _jacobianOplusXj(1, 2) = -x / z * fy;
  _jacobianOplusXj(1, 3) = 0;
  _jacobianOplusXj(1, 4) = -1. / z * fy;
  _jacobianOplusXj(1, 5) = y / z_2 * fy;

  _jacobianOplusXj(2, 0) = _jacobianOplusXj(0, 0) - bf * y / z_2;
  _jacobianOplusXj(2, 1) = _jacobianOplusXj(0, 1) + bf * x / z_2;
  _jacobianOplusXj(2, 2) = _jacobianOplusXj(0, 2);
  _jacobianOplusXj(2, 3) = _jacobianOplusXj(0, 3);
  _jacobianOplusXj(2, 4) = 0;
  _jacobianOplusXj(2, 5) = _jacobianOplusXj(0, 5) - bf / z_2;
}


//Only Pose

bool EdgeSE3ProjectXYZOnlyPose::read(std::istream& is) {
  for (int i = 0; i < 2; i++) {
    is >> _measurement[i];
  }
  for (int i = 0; i < 2; i++)
    for (int j = i; j < 2; j++) {
      is >> information()(i, j);
      if (i != j)
        information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgeSE3ProjectXYZOnlyPose::write(std::ostream& os) const {

  for (int i = 0; i < 2; i++) {
    os << measurement()[i] << " ";
  }

  for (int i = 0; i < 2; i++)
    for (int j = i; j < 2; j++) {
      os << " " <<  information()(i, j);
    }
  return os.good();
}


void EdgeSE3ProjectXYZOnlyPose::linearizeOplus() {
  VertexSE3Expmap * vi = static_cast<VertexSE3Expmap *>(_vertices[0]);
  Vector3d xyz_trans = vi->estimate().map(Xw);

  double x = xyz_trans[0];
  double y = xyz_trans[1];
  double invz = 1.0 / xyz_trans[2];
  double invz_2 = invz * invz;

  _jacobianOplusXi(0, 0) =  x * y * invz_2 * fx;
  _jacobianOplusXi(0, 1) = -(1 + (x * x * invz_2)) * fx;
  _jacobianOplusXi(0, 2) = y * invz * fx;
  _jacobianOplusXi(0, 3) = -invz * fx;
  _jacobianOplusXi(0, 4) = 0;
  _jacobianOplusXi(0, 5) = x * invz_2 * fx;

  _jacobianOplusXi(1, 0) = (1 + y * y * invz_2) * fy;
  _jacobianOplusXi(1, 1) = -x * y * invz_2 * fy;
  _jacobianOplusXi(1, 2) = -x * invz * fy;
  _jacobianOplusXi(1, 3) = 0;
  _jacobianOplusXi(1, 4) = -invz * fy;
  _jacobianOplusXi(1, 5) = y * invz_2 * fy;
}

Vector2d EdgeSE3ProjectXYZOnlyPose::cam_project(const Vector3d & trans_xyz) const {
  Vector2d proj = project2d(trans_xyz);
  Vector2d res;
  res[0] = proj[0] * fx + cx;
  res[1] = proj[1] * fy + cy;
  return res;
}


Vector3d EdgeStereoSE3ProjectXYZOnlyPose::cam_project(const Vector3d & trans_xyz) const {
  const float invz = 1.0f / trans_xyz[2];
  Vector3d res;
  res[0] = trans_xyz[0] * invz * fx + cx;
  res[1] = trans_xyz[1] * invz * fy + cy;
  res[2] = res[0] - bf * invz;
  return res;
}


bool EdgeStereoSE3ProjectXYZOnlyPose::read(std::istream& is) {
  for (int i = 0; i <= 3; i++) {
    is >> _measurement[i];
  }
  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      is >> information()(i, j);
      if (i != j)
        information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgeStereoSE3ProjectXYZOnlyPose::write(std::ostream& os) const {

  for (int i = 0; i <= 3; i++) {
    os << measurement()[i] << " ";
  }

  for (int i = 0; i <= 2; i++)
    for (int j = i; j <= 2; j++) {
      os << " " <<  information()(i, j);
    }
  return os.good();
}

void EdgeStereoSE3ProjectXYZOnlyPose::linearizeOplus() {
  VertexSE3Expmap * vi = static_cast<VertexSE3Expmap *>(_vertices[0]);
  Vector3d xyz_trans = vi->estimate().map(Xw);

  double x = xyz_trans[0];
  double y = xyz_trans[1];
  double invz = 1.0 / xyz_trans[2];
  double invz_2 = invz * invz;

  _jacobianOplusXi(0, 0) =  x * y * invz_2 * fx;
  _jacobianOplusXi(0, 1) = -(1 + (x * x * invz_2)) * fx;
  _jacobianOplusXi(0, 2) = y * invz * fx;
  _jacobianOplusXi(0, 3) = -invz * fx;
  _jacobianOplusXi(0, 4) = 0;
  _jacobianOplusXi(0, 5) = x * invz_2 * fx;

  _jacobianOplusXi(1, 0) = (1 + y * y * invz_2) * fy;
  _jacobianOplusXi(1, 1) = -x * y * invz_2 * fy;
  _jacobianOplusXi(1, 2) = -x * invz * fy;
  _jacobianOplusXi(1, 3) = 0;
  _jacobianOplusXi(1, 4) = -invz * fy;
  _jacobianOplusXi(1, 5) = y * invz_2 * fy;

  _jacobianOplusXi(2, 0) = _jacobianOplusXi(0, 0) - bf * y * invz_2;
  _jacobianOplusXi(2, 1) = _jacobianOplusXi(0, 1) + bf * x * invz_2;
  _jacobianOplusXi(2, 2) = _jacobianOplusXi(0, 2);
  _jacobianOplusXi(2, 3) = _jacobianOplusXi(0, 3);
  _jacobianOplusXi(2, 4) = 0;
  _jacobianOplusXi(2, 5) = _jacobianOplusXi(0, 5) - bf * invz_2;
}


} // end namespace
